CN216698000U - Electromagnetic solenoid - Google Patents

Electromagnetic solenoid Download PDF

Info

Publication number
CN216698000U
CN216698000U CN202220118223.8U CN202220118223U CN216698000U CN 216698000 U CN216698000 U CN 216698000U CN 202220118223 U CN202220118223 U CN 202220118223U CN 216698000 U CN216698000 U CN 216698000U
Authority
CN
China
Prior art keywords
electromagnetic solenoid
lead
peripheral wall
coil
recess
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN202220118223.8U
Other languages
Chinese (zh)
Inventor
大桥和弘
小松寿明
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
GKN Driveline International GmbH
Original Assignee
GKN Driveline International GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by GKN Driveline International GmbH filed Critical GKN Driveline International GmbH
Priority to CN202220118223.8U priority Critical patent/CN216698000U/en
Application granted granted Critical
Publication of CN216698000U publication Critical patent/CN216698000U/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Electromagnets (AREA)

Abstract

The utility model provides an electromagnetic solenoid capable of improving performance without enlarging a housing. In an electromagnetic solenoid (1) provided with a plurality of annular coils (3) wound, an annular housing (5) having an inner surface (17) formed by an inner peripheral wall (9) accommodating the coils (3), an outer peripheral wall (11), and a bottom wall (13), and lead wires (7, 7) electrically connected to the coils (3) at ends of the coils (3) via wire connecting portions (19, 19) and led out to the outside of the housing (5), an accommodating recess (25) accommodating the wire connecting portions (19, 19) is provided on the inner surface (17).

Description

Electromagnetic solenoid
Technical Field
The present invention relates to an electromagnetic solenoid.
Background
Conventionally, an electromagnetic solenoid includes a yoke wound with a plurality of annular coils and having an annular case having an inner surface formed by an inner peripheral wall, an outer peripheral wall, and a bottom wall for housing the coils. Further, as for the electromagnetic solenoid, the following structure is known: the magnetic yoke is provided with a lead wire which is electrically connected to the coil at an end portion of the coil via a diode as a wire connection portion and a terminal and is drawn out to the outside of the yoke (see patent document 1).
In this electromagnetic solenoid, a coil and a lead wire are electrically connected via a diode and a terminal inside a yoke. The lead wires are led out from an opening provided in the yoke to the outside.
Documents of the prior art
Patent document
Patent document 1: japanese Kokai publication Hei-3-13704
SUMMERY OF THE UTILITY MODEL
Problem to be solved by utility model
However, in the electromagnetic solenoid as in patent document 1, the wire connecting portion between the coil and the lead wire is housed inside the case. Therefore, an arrangement space for arranging the wire connecting portion is secured inside the housing.
However, if the space for disposing the wire connection portion is secured inside the case, the space for disposing the coil inside the case is limited. Therefore, for example, if the number of turns of the coil is to be increased in order to increase the output, the space for disposing the coil needs to be increased, which results in an increase in the size of the housing.
Accordingly, an object of the present invention is to provide an electromagnetic solenoid capable of improving performance without increasing the size of a housing.
Means for solving the problems
The electromagnetic solenoid of the present embodiment includes: a plurality of annular coils wound around the coil; an annular housing having an inner surface formed by an inner peripheral wall, an outer peripheral wall, and a bottom wall for accommodating the coil; and a lead wire electrically connected to the coil at an end of the coil via a wire connection portion and led out to the outside of the case, wherein a receiving recess portion for receiving the wire connection portion is provided on the inner surface.
The embodiment of the present invention is as follows.
One aspect is an electromagnetic solenoid including: a plurality of annular coils wound around the coil; an annular housing having an inner surface formed by an inner peripheral wall, an outer peripheral wall, and a bottom wall for accommodating the coil; and
and a lead wire electrically connected to the coil at an end of the coil via a wire connection portion and led out to the outside of the case, wherein a receiving recess portion for receiving the wire connection portion is provided on the inner surface.
A second aspect is an electromagnetic solenoid according to the first aspect, wherein the accommodating recess is provided in the bottom wall.
A third aspect is the electromagnetic solenoid according to the second aspect, wherein the housing recess is formed in a predetermined range of the bottom wall.
A fourth aspect of the present invention is the electromagnetic solenoid according to any one of the first to third aspects, wherein the housing recess is provided in at least one of the inner peripheral wall and the outer peripheral wall.
A fifth aspect of the present invention is the electromagnetic solenoid according to the fourth aspect, wherein the housing recess provided in at least one of the inner peripheral wall and the outer peripheral wall is a circumferential groove.
A sixth aspect is the electromagnetic solenoid according to any one of the first to third aspects, wherein the receiving recess communicates with a lead-out hole of the lead wire.
A seventh aspect of the present invention is the electromagnetic solenoid according to the fourth aspect, wherein the receiving recess communicates with the lead-out hole.
A eighth aspect of the present invention is the electromagnetic solenoid according to the fifth aspect, wherein the receiving recess communicates with the lead wire drawing hole.
A ninth aspect of the present invention is the electromagnetic solenoid according to the sixth aspect, wherein the lead-out hole communicates with an intermediate portion of the accommodation recess.
A tenth aspect of the present invention is the electromagnetic solenoid according to the seventh aspect, wherein the drawing hole communicates with an intermediate portion of the receiving recess.
Effect of the utility model
According to the present invention, an electromagnetic solenoid having improved performance without increasing the size of the housing can be provided.
Drawings
Fig. 1 is an enlarged cross-sectional view of a main portion of the electromagnetic solenoid of the present embodiment when the electromagnetic solenoid is disposed in a differential case.
Fig. 2 is a front view of the electromagnetic solenoid of the present embodiment.
Fig. 3 is an enlarged view of a main portion of fig. 3.
Fig. 4 is a front view of a housing of the electromagnetic solenoid of the present embodiment.
Fig. 5 is a V-V sectional view of fig. 4.
In the figure:
1-electromagnetic solenoid, 3-coil, 5-case, 7-lead wire, 9-inner peripheral wall, 11-outer peripheral wall, 13-bottom wall, 17-inner surface, 19-wiring portion, 23-lead-out hole, 25-accommodating recess, 27-bottom wall recess (accommodating recess), 29-peripheral wall recess (accommodating recess).
Detailed Description
Hereinafter, the electromagnetic solenoid of the present embodiment will be described in detail with reference to the drawings. In addition, the dimensional ratio of the drawings is exaggerated for convenience of explanation and may be different from the actual ratio.
As shown in fig. 1, the electromagnetic solenoid 1 according to the present embodiment is applied as a starting source for operating a clutch portion that locks a differential of a differential gear device mounted on a vehicle, for example. The differential device includes a differential mechanism, a clutch mechanism, and an electromagnetic solenoid 1.
The differential mechanism includes a differential case 101, a pinion shaft (not shown), a differential gear (not shown), and a pair of output gears (not shown).
The differential case 101 is rotatably supported by stationary members such as brackets via bearings on the outer peripheries of boss portions 103 (only one side is shown) provided on both sides in the axial direction. A driving force from a driving source that drives the vehicle, for example, is input to the differential case 101.
The pinion shaft is locked to rotation by the differential case 101 and is rotationally driven integrally with the differential case 101. A plurality of differential gears are supported on outer end sides of the pinion shafts, respectively.
The differential gears are arranged at equal intervals in the circumferential direction of the differential case 101. The differential gear is supported on both end sides of the pinion shaft and revolves by the rotation of the differential case 101. The differential gear transmits a driving force to a pair of output gears. The differential gear is supported on the pinion shaft so as to be rotatable, and rotates when a rotation difference occurs between the pair of output gears that are engaged with each other.
The pair of output gears are relatively rotatably supported by the differential case 101 at boss portions formed in the respective members, and mesh with the differential gear. The pair of output gears are connected to a drive shaft, for example, so as to be rotatable integrally therewith, and the drive shaft is connected to the left and right wheels so as to be rotatable integrally therewith. The pair of output gears output the driving force input to the differential case 101 to the left and right wheels.
The differential mechanism is configured such that the differential motion of the pair of output gears is locked by the engagement of the clutch mechanism. When the differential mechanism is in the locked state, the driving force transmitted to the pair of output gears is uniformly output to the left and right wheels.
A differential device having a clutch mechanism for differentially engaging and disengaging the differential mechanism in this way is a differential device having a so-called differential lock function. The clutch mechanism includes a clutch member and a clutch portion.
The clutch member 105 is formed in an annular shape, for example, and is disposed inside the differential case 101 so as to be axially adjacent to the wall portion 107 of the differential case 101 and to be movable in the axial direction. The clutch member 105 is disposed so as to be rotatable integrally with the differential case 101 via an engagement portion including a plurality of protrusions and a plurality of holes provided between the clutch member and the differential case 101.
The clutch portion is provided between the clutch member 105 and one of the output gears in the axial direction. The clutch portion is, for example, an engagement clutch formed by a plurality of meshing teeth formed in a circumferential direction on a surface of the clutch member 105 facing one of the output gears and engaging with each other.
The clutch portion is engaged with the engagement teeth of each other, and the clutch member 105 and one of the output gears are connected to be integrally rotatable. The differential case 101 is connected to one of the output gears so as to be integrally rotatable by the connection of the clutch member 105 to the one of the output gears, and the differential mechanism is locked in the differential state.
Further, an urging member for urging the clutch member 105 in a direction of releasing the connection of the clutch portion is disposed between the clutch member 105 and one of the output gears in the axial direction. The biasing member moves the clutch member 105 in the direction of releasing the engagement of the clutch portion, thereby releasing the engagement of the clutch portion.
When the clutch section is disengaged, the differential mechanism is brought into an unlocked state. The clutch state of the clutch unit is controlled by an actuator including the movable member 109 and the electromagnetic solenoid 1.
The movable member 109 is disposed on the outer periphery of the boss portion 103 of the differential case 101 on the inner diameter side of the electromagnetic solenoid 1 so as to be movable in the axial direction. The movable member 109 includes an annular plunger 111 and a ring member 113.
The plunger 111 is formed of a magnetic material. The plunger 111 is disposed on the inner diameter side of the electromagnetic solenoid 1 so as to have an air gap set to a small gap through which magnetic flux can pass.
The ring member 113 is formed of a non-magnetic material. The ring member 113 is integrally fixed to the inner diameter side of the plunger 111, and prevents leakage of magnetic flux from the inner circumferential side of the plunger 111 to the differential case 101 side.
The ring member 113 is disposed so that an end surface thereof on the clutch member 105 side can be brought into contact with the clutch member 105. The ring member 113 transmits an axial movement operation force of the movable member 109 operated by the electromagnetic solenoid 1 to the clutch member 105, and presses the clutch member 105 in a clutch portion connection direction.
As shown in fig. 1 to 5, the electromagnetic solenoid 1 is disposed on the outer peripheral side of the boss portion 103 of the differential case 101, adjacent to the wall portion 107 of the differential case 101 in the axial direction. The electromagnetic solenoid 1 is locked to a stationary member such as a bracket via a locking member (not shown) or the like.
An extension 115 extending in the axial direction from the wall 107 of the differential case 101 toward the electromagnetic solenoid 1 is disposed on the outer diameter side of the electromagnetic solenoid 1. The extending portion 115 is disposed with an air gap in the radial direction of the electromagnetic solenoid 1, the air gap being set to a small gap through which magnetic flux can pass.
The electromagnetic solenoid 1 includes a coil 3, a case 5, and a lead wire 7.
The coil 3 is made of, for example, an enameled wire or a magnet wire covered with an insulating material such as polyurethane, polyester, or polyester imide. The coil 3 is wound in a ring shape at a predetermined number of turns and molded by resin.
The housing 5 is formed of a magnetic material. The housing 5 has an inner peripheral wall 9, an outer peripheral wall 11, and a bottom wall 13.
The inner circumferential wall 9 is formed continuously in a ring shape in the circumferential direction. The axial length of the inner circumferential wall 9 is set shorter than the axial length of the plunger 111. An air gap is provided between the inner circumferential wall 9 and the plunger 111 in the radial direction, which is a small gap through which magnetic flux can pass.
The outer peripheral wall 11 is formed continuously in a ring shape in the circumferential direction and is arranged apart from the inner peripheral wall 9 in the radial direction. The axial length of the outer peripheral wall 11 is set longer than the axial length of the extension portion 115. The outer peripheral wall 11 has an air gap provided radially with the extension 115 as a small gap through which magnetic flux can pass. A magnetic path recess 15 is formed continuously in the circumferential direction on the outer surface of the outer peripheral wall 11. A plate fixed to the differential case 101 engages with the magnetic circuit recess 15, and determines the axial position of the electromagnetic solenoid 1 with respect to the differential case 101 via the case 5.
The bottom wall 13 is disposed at the end of the inner peripheral wall 9 and the outer peripheral wall 11 in the axial direction opposite to the wall 107. The bottom wall 13 is a single member continuous with the inner circumferential wall 9 and the outer circumferential wall 11, and is formed continuously in the circumferential direction so as to connect the inner circumferential wall 9 and the outer circumferential wall 11. Therefore, the housing 5 is formed in a ring shape and has a shape with one side opened in the axial direction.
The coil 3 is accommodated in an inner surface 17 formed by the inner peripheral wall 9, the outer peripheral wall 11, and the bottom wall 13. Therefore, the case 5 covers the outer periphery of the coil 3 except the wall portion 107 side. The inner circumferential wall 9, the outer circumferential wall 11, and the bottom wall 13 have a predetermined magnetic path cross-sectional area so as to form a magnetic field by applying current to the coil 3.
The lead 7 is made of, for example, a coated electric wire in which the outer periphery of a stranded wire obtained by twisting a plurality of core wires is coated with an insulating material such as polyvinyl chloride, fluororesin, crosslinked polyethylene, natural rubber, or synthetic rubber. The lead wires 7 are electrically connected to both ends of the coil 3 via wire connecting portions 19.
The wire connecting portion 19 is formed by peeling the insulating coating of the coil 3 and the lead 7 by a predetermined length, and electrically connects the conductors exposed to each other via tweezers (springs), welding, or the like, for example. Further, the coil 3 and the conductor portion of the lead 7 are covered with a heat shrinkable tube 21.
The end portions of the 2 leads 7 and 7 on the opposite side to the wire connection portions 19 and 19 are drawn out to the outside of the case 5 from a drawing hole 23 formed in the case 5. The 2 lead wires 7 and 7 led out to the outside of the case 5 are electrically connected to a controller (not shown) that controls the energization of the coil 3. Further, a sealing member such as a gasket is disposed between the lead hole 23 and the 2 leads 7 and 7.
The electromagnetic solenoid 1 as described above energizes the coil 3 under the control of the controller. When the coil 3 is energized, a magnetic flux loop is formed by magnetic flux passing through the case 5, the plunger 111, the wall portion 107 of the differential case 101, and the extension portion 115.
By forming the magnetic flux ring, the plunger 111 moves toward the clutch member 105, and the ring member 113 presses the clutch member 105. By the pressing operation of the ring member 113 to the clutch member 105, the clutch member 105 moves in the engaging direction of the clutch portion against the urging force of the urging member, and engages the clutch portion.
By the engagement of the clutch portion, one output gear and the clutch member 105 are connected to be integrally rotatable, one output gear is connected to the differential case 101, and the differential mechanism is in a locked state.
When the clutch is disconnected, the energization of the coil 3 is stopped under the control of the controller. When the energization of the coil 3 is stopped, the clutch member 105 moves in the direction of releasing the engagement of the clutch portion by the biasing force of the biasing member, and the engagement of the clutch portion is released.
When the clutch section is disengaged, one of the output gears and the clutch member 105 can rotate relative to each other, and one of the output gears and the differential case 101 can rotate relative to each other, thereby releasing the locked state of the differential mechanism.
In this way, the electromagnetic solenoid 1 operates the clutch portion by energizing the coil 3. Therefore, in order to improve the clutch characteristics of the clutch portion, it is conceivable to increase the number of turns of the coil 3 and increase the output of the electromagnetic solenoid 1.
Here, wire connection portions 19, 19 of the coil 3 and the 2 leads 7, 7 are disposed inside the case 5 housing the coil 3. In the conventional electromagnetic solenoid, the inner surface 17 of the housing 5 is formed to be flat.
Therefore, if the number of turns of the coil 3 is increased, the space for disposing the coil 3 in the case 5 increases, and the space for disposing the wire connection portions 19 and 19 disappears. Therefore, in order to secure the arrangement space of the wire connecting portions 19, the housing 5 needs to be increased in size.
In this case, the housing recess 25 for housing the wire connecting portions 19, 19 is provided on the inner surface 17 of the housing 5. The housing recess 25 has a bottom wall recess 27 and a peripheral wall recess 29.
The bottom wall recess 27 is provided in the bottom wall 13 of the housing 5. The bottom wall recess 27 communicates with the lead-out hole 23 for leading out the 2 leads 7, 7 to the outside. The bottom wall recess 27 is formed in a groove shape capable of accommodating at least a part of the outer surfaces of the wire connecting portions 19, 19 of the coil 3 and the 2 leads 7, 7.
The bottom wall recess 27 is formed in an arc shape along the circumferential direction of the bottom wall 13 within a predetermined range in which the 2 wire connecting portions 19, 19 are arranged in the circumferential direction of the bottom wall 13. The arc-shaped bottom wall recess 27 is formed symmetrically with the lead-out hole 23 as a middle portion.
The peripheral wall recess 29 is provided in the outer peripheral wall 11 of the housing 5. The peripheral wall recess 29 is formed in a groove shape capable of accommodating at least a part of the outer surface of the wire connecting portion 19, 19. The peripheral wall recess 29 is formed continuously in a circumferential groove shape along the inner surface of the outer peripheral wall 11 in the circumferential direction.
The housing recess 25 can be formed by any processing such as sintering, rolling, and cutting. Since the peripheral wall recess 29 is formed continuously in the circumferential direction, it is easy to perform machining by cutting or the like, and the formability is also excellent.
At least a part of the outer surfaces of the wire connecting portions 19, 19 electrically connecting both end portions of the coil 3 and the 2 leads 7, 7 is accommodated in the accommodating recess 25. By housing the wire connection portions 19, 19 in the housing recess 25, even if the number of turns of the coil 3 is increased, the arrangement space of the wire connection portions 19, 19 can be secured without increasing the size of the housing 5.
Of the outer surfaces of the wire connecting portions 19, the axially opposite outer surface is received in the bottom wall recess 27 of the receiving recess 25. Therefore, an arrangement space in the axial direction of the wire connecting portions 19, 19 can be secured inside the housing 5.
In addition, the bottom wall recess 27 is formed in a predetermined range of the bottom wall 13 in the circumferential direction of the bottom wall 13. Therefore, the portion where the bottom wall recess 27 is provided can be reduced in the circumferential direction of the bottom wall 13, and the cross-sectional area through which the magnetic flux passes can be secured.
The bottom wall recess 27 communicates with the lead-out hole 23 for leading out the 2 leads 7 and 7 to the outside. Therefore, the bottom wall recess 27 and the lead-out hole 23 are not separated from each other, and the wire connecting portions 19, 19 can be accommodated in the bottom wall recess 27 and the 2 lead wires 7, 7 can be led out to the outside in a compact range.
The lead-out hole 23 communicates with an intermediate portion of the bottom wall recess 27. Therefore, the wiring portions 19 and 19 of the 2 leads 7 and 7 are not arranged to overlap each other, the bottom wall recess 27 can be made small, and the cross-sectional area through which magnetic flux can pass can be secured.
Of the outer surfaces of the wire connecting portions 19, radially opposed outer surfaces are accommodated in the peripheral wall recess 29 of the accommodating recess 25. Therefore, a space for disposing the wire connection portions 19, 19 in the radial direction can be secured inside the housing 5. The wire connection portions 19, 19 are accommodated in the peripheral wall recess 29, so that the coil 3 can be prevented from coming off from the side opposite to the bottom wall 13 of the case 5.
The peripheral wall recess 29 is formed continuously in a groove shape in the circumferential direction of the outer peripheral wall 11. Therefore, the peripheral wall recess 29 can be easily provided in the housing 5, and workability and formability of the housing 5 can be improved.
The present embodiment has been described above, but the present embodiment is not limited to this, and various modifications can be made within the scope of the present embodiment.
For example, the electromagnetic solenoid is applied to a differential device, but is not limited thereto. For example, the device to which the electromagnetic solenoid is applied may be any device such as a device mounted on a vehicle and having a switching mechanism for switching drive wheels of the vehicle, a switching mechanism for switching a vehicle speed, or a clutch device for power in a general machine.
The housing recess is provided in the bottom wall or the outer peripheral wall, but may be provided in only one of them, and is not limited thereto, and may be provided in the inner peripheral wall. When the inner circumferential wall is provided, the inner circumferential wall may have a circumferential groove shape.
The lead-out hole communicates with the bottom wall recess, but the lead-out hole is not limited to this, and may communicate with the peripheral wall recess. In this case, the lead can be drawn out from the radial direction of the case to the outside. The position of the lead hole can be set appropriately in accordance with the lead-out direction.

Claims (10)

1. An electromagnetic solenoid, comprising:
a plurality of annular coils wound around the coil;
an annular housing having an inner surface formed by an inner peripheral wall, an outer peripheral wall, and a bottom wall that house the coil; and
a lead wire electrically connected to the coil at an end of the coil via a wire connection portion and led out to the outside of the case,
the inner surface is provided with a receiving recess for receiving the wire connecting portion.
2. The electromagnetic solenoid according to claim 1,
the accommodating concave part is arranged on the bottom wall.
3. The electromagnetic solenoid according to claim 2,
the accommodating recess is formed in a predetermined range of the bottom wall.
4. The electromagnetic solenoid according to any one of claims 1 to 3,
the housing recess is provided in at least one of the inner peripheral wall and the outer peripheral wall.
5. The electromagnetic solenoid according to claim 4,
the housing recess provided in at least one of the inner peripheral wall and the outer peripheral wall is a circumferential groove.
6. The electromagnetic solenoid according to any one of claims 1 to 3,
the accommodating concave part is communicated with the lead-out hole of the lead.
7. The electromagnetic solenoid according to claim 4,
the accommodating concave part is communicated with the lead-out hole of the lead.
8. The electromagnetic solenoid according to claim 5,
the accommodating concave part is communicated with the lead-out hole of the lead.
9. The electromagnetic solenoid according to claim 6,
the lead-out hole communicates with an intermediate portion of the housing recess.
10. The electromagnetic solenoid according to claim 7,
the lead-out hole communicates with an intermediate portion of the housing recess.
CN202220118223.8U 2022-01-17 2022-01-17 Electromagnetic solenoid Active CN216698000U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202220118223.8U CN216698000U (en) 2022-01-17 2022-01-17 Electromagnetic solenoid

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202220118223.8U CN216698000U (en) 2022-01-17 2022-01-17 Electromagnetic solenoid

Publications (1)

Publication Number Publication Date
CN216698000U true CN216698000U (en) 2022-06-07

Family

ID=81826484

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202220118223.8U Active CN216698000U (en) 2022-01-17 2022-01-17 Electromagnetic solenoid

Country Status (1)

Country Link
CN (1) CN216698000U (en)

Similar Documents

Publication Publication Date Title
CN110168878B (en) Motor and transmission
KR20100014886A (en) Nested variable field dynamoelectric machine
JP5648564B2 (en) Rotary actuator
JP5488931B2 (en) Rotary actuator
EP1982406A1 (en) Electric motor with field weakening
EP1911988B1 (en) Drive device
JP2018102050A (en) Rotary actuator
JP2007010042A (en) Vehicle control system
CN216698000U (en) Electromagnetic solenoid
CN111828554A (en) Rotary actuator
US11611261B2 (en) Rotary actuator
US20230123575A1 (en) Stator
JP7453473B2 (en) axial drive actuator
KR101928712B1 (en) Electric electro-magnetic motor
CN110168864B (en) Rotating electrical machine
JP7347353B2 (en) stator
CN221237134U (en) Power transmission device
JP7400648B2 (en) rotating electric machine
JP7347352B2 (en) stator
JP7392599B2 (en) rotating electric machine
CN220463905U (en) Actuator and robot
CN214377964U (en) Electromagnetic coil and power transmission device provided with same
US20220163103A1 (en) Final reduction apparatus
CN116141378A (en) Actuator and robot
JP2022018076A (en) Stator

Legal Events

Date Code Title Description
GR01 Patent grant
GR01 Patent grant